EP0753752A1 - Apparatus and method for sensing motionlessness in a vehicle - Google Patents

Apparatus and method for sensing motionlessness in a vehicle Download PDF

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Publication number
EP0753752A1
EP0753752A1 EP96110681A EP96110681A EP0753752A1 EP 0753752 A1 EP0753752 A1 EP 0753752A1 EP 96110681 A EP96110681 A EP 96110681A EP 96110681 A EP96110681 A EP 96110681A EP 0753752 A1 EP0753752 A1 EP 0753752A1
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EP
European Patent Office
Prior art keywords
vehicle
operational
sample
motion state
motion
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP96110681A
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German (de)
English (en)
French (fr)
Inventor
Samer S. Saab
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Rail STS USA Inc
Original Assignee
Union Switch and Signal Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Union Switch and Signal Inc filed Critical Union Switch and Signal Inc
Publication of EP0753752A1 publication Critical patent/EP0753752A1/en
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/021—Measuring and recording of train speed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement

Definitions

  • the invention herein relates to vehicle sensors, particularly, to vehicle motion sensors, and more particularly, to sensors for determining when a vehicle is at rest, or motionless.
  • a tachometer is an electromechanical angular speed transducer that can produce an output, e.g., a series of pulses, that is representative of the vehicle's speed.
  • the tachometer output may not be detected or be properly interpreted, leading to an erroneous indication of the vehicle being motionless.
  • Inertial sensors for example, gyroscopes and accelerometers
  • gyroscopes and accelerometers are often used in military and aerospace applications such as navigation, guidance, and weapon fire control. More recently, inertial sensors have been used for guiding vehicle motion in applications such as maneuvering an autonomous delivery robot through hospital corridors, guiding an emergency vehicle deployed in an urban environment, navigating an automated forklift in a warehouse, and so on.
  • Inertial sensors are useful in land-based applications because, when a land-based vehicle travels between two points, a measurable change in the vehicle's acceleration vector can occur.
  • This acceleration vector can be decomposed into three directions, i.e., forward, lateral, and downward. These three directions are generally orthogonal and can form a spatial reference frame.
  • the change in the forward direction is typically due to variations in the vehicle's desired speed which can result from factors such as land traction, joint stiction, and friction.
  • the change in lateral acceleration can be due to turns, roughness of the land surface, roll in a vehicle, and the like.
  • changes in the downward acceleration may result from vehicle vibration, irregularities in the vehicle path topology, vehicle pitch and roll, and the like.
  • the acceleration vector usually reflects motions due to the aforementioned effects, as sensed by an inertial sensor.
  • An accelerometer can measure the intensity and direction of an acceleration-produced force, from this, the magnitude and direction of the acceleration vector can be determined.
  • a gyroscope can measure the intensity and direction of angular motion from which velocity vectors can be determined.
  • the invention provides an apparatus and method for sensing motionlessness for sensing motionlessness in a land-based vehicle.
  • the apparatus can include an inertial measurement unit (IMU) mounted in a predetermined orientation on the vehicle and a programmable computer.
  • the IMU can have an inertial sensor which generates a plurality of motion signals. More than one inertial sensor can be used and, in that case, each of the sensors can be mounted in a second predetermined orientation with respect to the others, thereby creating a selected spatial reference frame. In one embodiment, the second predetermined orientation is an orthogonal orientation.
  • the inertial sensor can be one or more accelerometers, or one or more gyroscopes, or an accelerometer-gyroscope combination.
  • the programmable computer receives the motion signals and determining a motion state of the vehicle therefrom.
  • the motion state can include stopped and moving, where the stopped motion state is indicative of motionlessness.
  • motionlessness is relative to a predetermined axis of movement, for example, the downward direction.
  • the programmable computer provides the motion state to a target application which acts in accordance therewith.
  • the target application can be a rail vehicle control system.
  • a method for practicing the invention in a land-based vehicle having inertial sensors which provide motion signals can include sensing a reference sample representative of the motion signals during a reference period; extracting a reference characteristic signal from the reference sample which can be representative of motionlessness; sensing an operational sample representative of the motion signals during an operational period; extracting an operational characteristic signal from the operational sample which can be representative of a current motion state; determining the current motion state from the operational characteristic signal relative to the reference characteristic signal; reporting the motion state to a target application in the vehicle, the application acting in accordance therewith.
  • the inertial sensors can be recalibrated and the process repeated with the sensing of a new operational sample. If the motion state is moving, additional operational samples can be taken and analyzed as described until a stopped motion state is detected.
  • the reference characteristic signal can include a first standard deviation representative of the reference sample, and the operational characteristic signal can include a second standard deviation representative of the operational sample.
  • Figure 1 is a diagram of a land-based vehicle having an apparatus for sensing motionlessness according to the invention herein.
  • Figure 2 is a flow diagram of one embodiment of the method for sensing motionlessness according to the invention herein.
  • Figure 3a is a time-based acceleration plot for measured values of forward motion coupled with the projection of gravity on forward acceleration.
  • Figure 3b is a time-based acceleration plot for measured values of lateral motion coupled with the projection of gravity on lateral acceleration.
  • Figure 3c is a time-based acceleration plot for measured values of a downward motion coupled with the projection of gravity on downward acceleration.
  • Figure 4a is a time-based angular velocity plot for measured values of vehicle rolling motion coupled with the earth-rate projection on the roll gyroscope.
  • Figure 4b is a time-based angular velocity plot for measured values of vehicle pitch motion coupled with the earth-rate projection on the pitch gyroscope.
  • Figure 4c is a time-based angular velocity plot for measured values of downward motion coupled with the earth-rate projection on the yaw gyroscope.
  • the invention herein provides an apparatus and method for detecting motionlessness in a vehicle, particularly a land-based vehicle, for example, a rail vehicle.
  • motionlessness does not describe the complete lack of movement in a vehicle. Instead, motionlessness can be relative to a predetermined axis of movement, such as forward movement, and can be representative of substantially zero velocity in the direction of that predetermined axis.
  • the apparatus can include an inertial measurement unit (IMU) having one or more inertial sensors that are mounted in a first predetermined orientation on the vehicle.
  • the apparatus can also include a programmable computer for receiving motion signals from the IMU and determining the vehicle's motion state.
  • each sensor can be mounted in a second predetermined orientation with respect to the other sensors within the IMU.
  • each sensor can be mounted orthogonally with respect to the other sensors so that a three-axis spatial reference frame can be established.
  • An accelerometer can be used as an inertial sensor, although the apparatus instead can employ a gyroscope.
  • multiple accelerometers, gyroscopes, or combinations thereof also may be used as inertial sensors.
  • Each of the inertial sensors can generate multiple motion signals which can be received by the computer.
  • the computer can, in turn, determine a motion state of the vehicle and provide the motion state to a target application, such as a rail vehicle control system, so that the target application can respond to the motion state.
  • a target application such as a rail vehicle control system
  • the motion state can be used by the computer for realigning the spatial reference frame and recalibrating the inertial sensors.
  • the motion states determined by the computer can include stopped and moving.
  • the motion state can include the vehicle's speed, and other parameters respective of movement relative to a particular sensor orientation such as pitch, roll, and yaw.
  • Figure 1 illustrates one embodiment of apparatus 1 for sensing motionlessness in a vehicle 2 which can include an inertial measurement unit (IMU) 3 and a programmable computer 4.
  • IMU 3 can generate multiple motion signals and can be mounted in a first predetermined orientation on vehicle 2, which can be a land-based vehicle such as, for example, a rail vehicle, a bus, a tram, and the like.
  • Computer 4 is connected to inertial measurement unit 3 and receives multiple motion signals 9 therefrom.
  • Computer 4 can analyze motion signals 9 to determine a motion state of vehicle 2.
  • the motion state can be one of stopped and moving, with the stopped motion state being indicative of motionlessness.
  • Computer 4 can provide the motion state 10 to a target application, which can be vehicle control system 8.
  • IMU 3 can have one or more inertial sensors 5, 6, 7.
  • Each of inertial sensors 5, 6, 7 can be one or more accelerometers or one or more gyroscopes. Alternately, sensors 5, 6, 7 of IMU 3 can include at least one gyroscope and at least one accelerometer. Although a single inertial sensor may be used in IMU 3, multiple inertial sensors also can be used. Where multiple inertial sensors 5, 6, 7 are used, each sensor can be mounted in a second predetermined orientation with respect to the other sensors.
  • the orientation can be an orthogonal orientation, i.e., where each sensor is orthogonal with respect to the others.
  • sensor 5 is oriented to the x-axis and can be used to detect forward motion of vehicle 2.
  • sensor 6 is oriented to the y-axis and can be used to sense lateral, or side-to-side, motion in vehicle 2.
  • Sensor 7 is oriented to the z-axis and can detect downward movement in vehicle 2.
  • a single inertial sensor such as an accelerometer, it is preferred that the sensor be oriented as sensor 7, that is, relative to the downward-, or z-, axis of movement.
  • the invention herein also provides a method for sensing motionlessness in a vehicle and may be used in conjunction with the existing inertial sensors on a vehicle.
  • the method can compensate for dynamic defects such as vehicle and engine, vibration, and random motions such as, for example, passenger movement in the vehicle, an unlevel vehicle platform, or vehicle pathway, and the like.
  • the method includes sensing reference and operational samples of motion signals that are taken during reference and operational periods, respectively.
  • the samples can include the vehicle's acceleration in each of the monitored directions.
  • the reference sample can be taken while the vehicle is at rest, i.e., where the vehicle velocity in a predetermined axis of movement is essentially zero and the vehicle is substantially motionless.
  • From the reference sample can be extracted multiple reference signals including a reference characteristic signal; similarly, from the operational sample can be extracted multiple operational signals including an operational characteristic signal.
  • the method then can provide comparing the operational characteristic signal to the reference characteristic signal to determine a motion state.
  • the motion state can be indicative of whether the vehicle is moving or stopped, and can include selected operational signals.
  • the reference and operational signals can include directional accelerations, pitch, roll, yaw, position, and speed.
  • the aforementioned characteristic signals can be indicative of the vehicle motion state, and can include the variance of the respective reference and operational directional acceleration vectors. If the vehicle is determined to be motionless, that is, in the stopped motion state, selected ones of the operational signals can be used to align the inertial measurement unit to a selected spatial reference frame and calibrate the inertial sensors.
  • the stopped motion state information can be used by the target application, for example, the vehicle control system, to activate other devices on the vehicle, including permitting the vehicle doors to open.
  • another operational sample of the motion signals can be sensed, with multiple operational signals, including characteristic signals, being extracted therefrom, as before. The operational characteristic signal again can be compared to the reference characteristic signal to determine whether the vehicle is moving or stopped.
  • Figure 2 illustrates the method 100 by which the motionlessness of a vehicle can be sensed.
  • a programmable computer can sense reference sample from the motion signals generated during a reference period by an inertial measurement device, such as, for example, programmable computer 4 and IMU 3 in Figure 1.
  • the reference sample can include reference vector I ⁇ (0), wherein reference vector I ⁇ (0) is obtained while the vehicle is motionless.
  • vector I ⁇ can be an acceleration vector which itself is composed of directional acceleration vectors, e.g., A x , A y , and A z , for each of the three directions sensed by the respective accelerometers.
  • a reference characteristic signal vector which can include reference deviation vector ⁇ ⁇
  • reference deviation vector ⁇ ⁇ is extracted from I ⁇ (0) at step 102.
  • a predetermined relaxation factor ⁇ can be applied to vector ⁇ ⁇ to reduce the effects of noise in the measurement environment.
  • Reference deviation vector ⁇ ⁇ can include the standard deviation of the motion signals, taken while the vehicle is at rest.
  • ⁇ ⁇ ⁇ x,y,z ⁇ , ⁇ x , ⁇ y , ⁇ z can be the standard deviations of directional acceleration vector A x , A y , A z , respectively, taken while the vehicle is at rest.
  • vector ⁇ ⁇ also can include the standard deviation of the respective directional angular velocities sensed thereby.
  • an operational sample can be collected from the motion signals of the aforementioned inertial measurement device during an operational period, at step 104.
  • a moving-window sample vector can be employed for each of directional signal vectors I x (i), I y (i) and I z (i), at step 106.
  • a moving-window sample vector can be provided by deleting the oldest data, i.e., the data with the lowest time index (i) value, and adding to the vector the most recently collected operational sample, so that the total number of samples, N, is maintained.
  • vector I ⁇ (i) can be extracted an operational characteristic signal vector, step 108.
  • the operational characteristic signal vector can include a standard deviation vector, ⁇ ⁇ , for each of directional vectors, I x , I y , and I z , in I ⁇ ; mean estimates for each vector; as well as measures of pitch, roll, yaw, speed, and position.
  • the magnitude of standard deviation vector ⁇ ⁇ of sample vector I ⁇ can be large when compared to the reference deviation vector ⁇ ⁇ .
  • the standard deviation for a single directional vector e.g., I x (i)
  • the standard deviations of a plurality of directional vectors e.g., I x (i), I y (i), and I z (i)
  • the operational characteristic signal is generally less than the reference characteristic signal, at step 110, a stopped motion state can be detected.
  • the operational signal vectors can be frozen, step 112, as determined at the time the current stopped state was detected, i.e., at step 110.
  • These operational signal vectors can be used to perform realignment of the vehicle to a selected spatial reference frame, for example, levelling of the platform, step 114. Static alignment can be performed using the mean values of directional vector I ⁇ (i).
  • the inertial sensors can be recalibrated, step 116, to accommodate current operational conditions which can vary due to physical conditions, such as, temperature, pressure, humidity, and the like.
  • the stopped motion state can be used by the target application, for example, vehicle control system 8 in Figure 1, to perform preselected vehicle functions such as opening the vehicle doors, at step 118.
  • Selected reference variables can be updated, step 122, as needed, to properly reflect current operational conditions.
  • Process 100 can continue by sensing a new operational sample at step 104. Likewise, if, at step 110, the vehicle motion state is determined to be moving, process 100 continues by sensing a new sample at step 104.
  • a land-based vehicle i.e., a van
  • An inertial measurement unit similar to IMU 3 in Figure 1, was mounted in the van, and included three orthogonally-mounted accelerometers and three orthogonally-mounted gyroscopes, as illustrated in Figure 1.
  • the x-direction inertial sensors were oriented to measure forward motion
  • the y-direction sensors were oriented to measure lateral or side-to-side motion
  • the z-direction sensors were oriented to measure downward motion.
  • the inertial measurement signals here analog signals
  • IMU motion signals were digitized, and stored in the computer for analysis.
  • the van was maintained at rest for an initialization period, was accelerated generally smoothly for a time, and then decelerated until a full stop was reached. Sampling continued for several seconds after the van can to a rest.
  • Figures 3a-c are graphical representations of the acceleration forces measured in the x, y, and z directions by the respective accelerometers.
  • Figures 4a-c are graphical representations of the angular velocities measured in the x, y, and z directions by the respective gyroscopes.
  • the van was at rest during approximately the first five (5) seconds of measurement.
  • the van also can be seen in Figures 3a-c and 4a-c to be at rest at about 18.5 seconds after sampling began. Because of the substantial variances between measurements taken while the van was moving and when it was stopped, a higher-order measure, such as a standard deviation, can be used to detect when the vehicle is at rest.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Gyroscopes (AREA)
  • Navigation (AREA)
  • Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
EP96110681A 1995-07-11 1996-07-02 Apparatus and method for sensing motionlessness in a vehicle Ceased EP0753752A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US08/500,571 US5736923A (en) 1995-07-11 1995-07-11 Apparatus and method for sensing motionlessness in a vehicle
US500571 1995-07-11

Publications (1)

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EP0753752A1 true EP0753752A1 (en) 1997-01-15

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US (1) US5736923A (OSRAM)
EP (1) EP0753752A1 (OSRAM)
KR (1) KR970005962A (OSRAM)
AU (1) AU5618996A (OSRAM)
CA (1) CA2179464A1 (OSRAM)
MX (1) MX9602715A (OSRAM)
TW (1) TW301711B (OSRAM)

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KR970005962A (ko) 1997-02-19
CA2179464A1 (en) 1997-01-12

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